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#include "precomp.hpp"

CvCamShiftTracker::CvCamShiftTracker() {
	int i;

	memset( &m_box, 0, sizeof(m_box));
	memset( &m_comp, 0, sizeof(m_comp));
	memset( m_color_planes, 0, sizeof(m_color_planes));
	m_threshold = 0;

	for ( i = 0; i < CV_MAX_DIM; i++ ) {
		m_min_ch_val[i] = 0;
		m_max_ch_val[i] = 255;
		m_hist_ranges[i] = m_hist_ranges_data[i];
		m_hist_ranges[i][0] = 0.f;
		m_hist_ranges[i][1] = 256.f;
	}

	m_hist = 0;
	m_back_project = 0;
	m_temp = 0;
	m_mask = 0;
}


CvCamShiftTracker::~CvCamShiftTracker() {
	int i;

	cvReleaseHist( &m_hist );
	for ( i = 0; i < CV_MAX_DIM; i++ ) {
		cvReleaseImage( &m_color_planes[i] );
	}
	cvReleaseImage( &m_back_project );
	cvReleaseImage( &m_temp );
	cvReleaseImage( &m_mask );
}


void
CvCamShiftTracker::color_transform( const IplImage* image ) {
	CvSize size = cvGetSize(image);
	uchar* color_data = 0, *mask = 0;
	uchar* planes[CV_MAX_DIM];
	int x, color_step = 0, plane_step = 0, mask_step;
	int dims[CV_MAX_DIM];
	int i, n = get_hist_dims(dims);

	assert( image->nChannels == 3 && m_hist != 0 );

	if ( !m_temp || !m_mask || !m_color_planes[0] || !m_color_planes[n-1] || !m_back_project ||
			m_temp->width != size.width || m_temp->height != size.height ||
			m_temp->nChannels != 3 ) {
		cvReleaseImage( &m_temp );
		m_temp = cvCreateImage( size, IPL_DEPTH_8U, 3 );
		cvReleaseImage( &m_mask );
		m_mask = cvCreateImage( size, IPL_DEPTH_8U, 1 );
		cvReleaseImage( &m_back_project );
		m_back_project = cvCreateImage( size, IPL_DEPTH_8U, 1 );
		for ( i = 0; i < CV_MAX_DIM; i++ ) {
			cvReleaseImage( &m_color_planes[i] );
			if ( i < n ) {
				m_color_planes[i] = cvCreateImage( size, IPL_DEPTH_8U, 1 );
			}
		}
	}

	cvCvtColor( image, m_temp, CV_BGR2HSV );
	cvGetRawData( m_temp, &color_data, &color_step, &size );
	cvGetRawData( m_mask, &mask, &mask_step, &size );

	for ( i = 0; i < n; i++ ) {
		cvGetRawData( m_color_planes[i], &planes[i], &plane_step, &size );
	}

	for ( ; size.height--; color_data += color_step, mask += mask_step ) {
		for ( x = 0; x < size.width; x++ ) {
			int val0 = color_data[x*3];
			int val1 = color_data[x*3+1];
			int val2 = color_data[x*3+2];
			if ( m_min_ch_val[0] <= val0 && val0 <= m_max_ch_val[0] &&
					m_min_ch_val[1] <= val1 && val1 <= m_max_ch_val[1] &&
					m_min_ch_val[2] <= val2 && val2 <= m_max_ch_val[2] ) {
				// hue is written to the 0-th plane, saturation - to the 1-st one,
				// so 1d histogram will automagically correspond to hue-based tracking,
				// 2d histogram - to saturation-based tracking.
				planes[0][x] = (uchar)val0;
				if ( n > 1 ) {
					planes[1][x] = (uchar)val1;
				}
				if ( n > 2 ) {
					planes[2][x] = (uchar)val2;
				}

				mask[x] = (uchar)255;
			} else {
				planes[0][x] = 0;
				if ( n > 1 ) {
					planes[1][x] = 0;
				}
				if ( n > 2 ) {
					planes[2][x] = 0;
				}
				mask[x] = 0;
			}
		}
		for ( i = 0; i < n; i++ ) {
			planes[i] += plane_step;
		}
	}
}


bool
CvCamShiftTracker::update_histogram( const IplImage* cur_frame ) {
	float max_val = 0;
	int i, dims;

	if ( m_comp.rect.width == 0 || m_comp.rect.height == 0 ||
			m_hist == 0 ) {
		assert(0);
		return false;
	}

	color_transform(cur_frame);

	dims = cvGetDims( m_hist->bins );
	for ( i = 0; i < dims; i++ ) {
		cvSetImageROI( m_color_planes[i], m_comp.rect );
	}
	cvSetImageROI( m_mask, m_comp.rect );

	cvSetHistBinRanges( m_hist, m_hist_ranges, 1 );
	cvCalcHist( m_color_planes, m_hist, 0, m_mask );

	for ( i = 0; i < dims; i++ ) {
		cvSetImageROI( m_color_planes[i], m_comp.rect );
	}

	for ( i = 0; i < dims; i++ ) {
		cvResetImageROI( m_color_planes[i] );
	}
	cvResetImageROI( m_mask );

	cvGetMinMaxHistValue( m_hist, 0, &max_val );
	cvScale( m_hist->bins, m_hist->bins, max_val ? 255. / max_val : 0. );

	return max_val != 0;
}


void
CvCamShiftTracker::reset_histogram() {
	if ( m_hist ) {
		cvClearHist( m_hist );
	}
}


bool
CvCamShiftTracker::track_object( const IplImage* cur_frame ) {
	CvRect rect;
	CvSize bp_size;

	union {
		void** arr;
		IplImage** img;
	} u;

	if ( m_comp.rect.width == 0 || m_comp.rect.height == 0 ||
			m_hist == 0 ) {
		return false;
	}

	color_transform( cur_frame );
	u.img = m_color_planes;
	cvCalcArrBackProject( u.arr, m_back_project, m_hist );
	cvAnd( m_back_project, m_mask, m_back_project );

	rect = m_comp.rect;
	bp_size = cvGetSize( m_back_project );
	if ( rect.x < 0 ) {
		rect.x = 0;
	}
	if ( rect.x + rect.width > bp_size.width ) {
		rect.width = bp_size.width - rect.x;
	}
	if ( rect.y < 0 ) {
		rect.y = 0;
	}
	if ( rect.y + rect.height > bp_size.height ) {
		rect.height = bp_size.height - rect.y;
	}

	cvCamShift( m_back_project, rect,
				cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ),
				&m_comp, &m_box );

	if ( m_comp.rect.width == 0 || m_comp.rect.height == 0 ) {
		m_comp.rect = rect;    // do not allow tracker to loose the object
	}

	return m_comp.rect.width != 0 && m_comp.rect.height != 0;
}


bool
CvCamShiftTracker::set_hist_dims( int c_dims, int* dims ) {
	if ( (unsigned)(c_dims - 1) >= (unsigned)CV_MAX_DIM || dims == 0 ) {
		return false;
	}

	if ( m_hist ) {
		int dims2[CV_MAX_DIM];
		int c_dims2 = cvGetDims( m_hist->bins, dims2 );

		if ( c_dims2 == c_dims && memcmp( dims, dims2, c_dims * sizeof(dims[0])) == 0 ) {
			return true;
		}

		cvReleaseHist( &m_hist );
	}

	m_hist = cvCreateHist( c_dims, dims, CV_HIST_ARRAY, 0, 0 );

	return true;
}


bool
CvCamShiftTracker::set_hist_bin_range( int channel, int min_val, int max_val ) {
	if ( (unsigned)channel >= (unsigned)CV_MAX_DIM ||
			min_val >= max_val || min_val < 0 || max_val > 256 ) {
		assert(0);
		return false;
	}

	m_hist_ranges[channel][0] = (float)min_val;
	m_hist_ranges[channel][1] = (float)max_val;

	return true;
}

/* End of file. */
